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<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::gpu::kinfuLS::StandaloneMarchingCubes&lt; PointT &gt; 模板类 参考</div>  </div>
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<p>The Standalone Marching Cubes Class provides encapsulated functionality for the Marching Cubes implementation originally by Anatoly Baksheev.  
 <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="standalone__marching__cubes_8h_source.html">standalone_marching_cubes.h</a>&gt;</code></p>
<table class="memberdecls">
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Public 类型</h2></td></tr>
<tr class="memitem:aff2fd9ccedb2ae0beae3daca9b851a7b"><td class="memItemLeft" align="right" valign="top"><a id="aff2fd9ccedb2ae0beae3daca9b851a7b"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:aff2fd9ccedb2ae0beae3daca9b851a7b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:a66edc0ac3488db91a4c1ba6adcbf4d86"><td class="memItemLeft" align="right" valign="top"><a id="a66edc0ac3488db91a4c1ba6adcbf4d86"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>MeshPtr</b></td></tr>
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Public 成员函数</h2></td></tr>
<tr class="memitem:a4eaf1a0ebd2128f8d6774f99f35ad0ba"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a4eaf1a0ebd2128f8d6774f99f35ad0ba">StandaloneMarchingCubes</a> (int voxels_x=512, int voxels_y=512, int voxels_z=512, float volume_size=3.0f)</td></tr>
<tr class="memdesc:a4eaf1a0ebd2128f8d6774f99f35ad0ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor <br  />
  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a4eaf1a0ebd2128f8d6774f99f35ad0ba">更多...</a><br /></td></tr>
<tr class="separator:a4eaf1a0ebd2128f8d6774f99f35ad0ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6e246cf34392e419b9b4513daeca267"><td class="memItemLeft" align="right" valign="top"><a id="ae6e246cf34392e419b9b4513daeca267"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ae6e246cf34392e419b9b4513daeca267">~StandaloneMarchingCubes</a> ()</td></tr>
<tr class="memdesc:ae6e246cf34392e419b9b4513daeca267"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor <br /></td></tr>
<tr class="separator:ae6e246cf34392e419b9b4513daeca267"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a976a6a5dad28759183a8b345275c931f"><td class="memItemLeft" align="right" valign="top">MeshPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a976a6a5dad28759183a8b345275c931f">getMeshFromTSDFCloud</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud)</td></tr>
<tr class="memdesc:a976a6a5dad28759183a8b345275c931f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run marching cubes in a TSDF cloud and returns a <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a>. Input X,Y,Z coordinates must be in indices of the TSDF volume grid, output is in meters.  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a976a6a5dad28759183a8b345275c931f">更多...</a><br /></td></tr>
<tr class="separator:a976a6a5dad28759183a8b345275c931f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa6e25c6a7ba9501b3e67af131c9a2ff2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aa6e25c6a7ba9501b3e67af131c9a2ff2">getMeshesFromTSDFVector</a> (const std::vector&lt; PointCloudPtr &gt; &amp;tsdf_clouds, const std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;tsdf_offsets)</td></tr>
<tr class="memdesc:aa6e25c6a7ba9501b3e67af131c9a2ff2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Runs marching cubes on every pointcloud in the vector. Returns a vector containing the PolygonMeshes.  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aa6e25c6a7ba9501b3e67af131c9a2ff2">更多...</a><br /></td></tr>
<tr class="separator:aa6e25c6a7ba9501b3e67af131c9a2ff2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec2ad8c96592c77bbcb57e8f276ebf16"><td class="memItemLeft" align="right" valign="top">TsdfVolume::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aec2ad8c96592c77bbcb57e8f276ebf16">tsdfVolumeGPU</a> ()</td></tr>
<tr class="memdesc:aec2ad8c96592c77bbcb57e8f276ebf16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the associated Tsdf Volume buffer in GPU  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aec2ad8c96592c77bbcb57e8f276ebf16">更多...</a><br /></td></tr>
<tr class="separator:aec2ad8c96592c77bbcb57e8f276ebf16"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aafac7040231ae371e82d15c6db0de4e8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aafac7040231ae371e82d15c6db0de4e8">tsdfVolumeCPU</a> ()</td></tr>
<tr class="memdesc:aafac7040231ae371e82d15c6db0de4e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the associated Tsdf Volume buffer in CPU  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aafac7040231ae371e82d15c6db0de4e8">更多...</a><br /></td></tr>
<tr class="separator:aafac7040231ae371e82d15c6db0de4e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:ad36d562206a0828d373d1ece6ba282f7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad36d562206a0828d373d1ece6ba282f7">loadTsdfCloudToGPU</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud)</td></tr>
<tr class="memdesc:ad36d562206a0828d373d1ece6ba282f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads a TSDF <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> to the TSDF Volume in GPU  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad36d562206a0828d373d1ece6ba282f7">更多...</a><br /></td></tr>
<tr class="separator:ad36d562206a0828d373d1ece6ba282f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8b901cdadf829860346c8ada00cc82a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aa8b901cdadf829860346c8ada00cc82a">convertTsdfVectors</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, std::vector&lt; int &gt; &amp;output)</td></tr>
<tr class="memdesc:aa8b901cdadf829860346c8ada00cc82a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read the data in the point cloud. Performs a conversion to a suitable format for the TSDF Volume. Loads the converted data to the output vector.  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aa8b901cdadf829860346c8ada00cc82a">更多...</a><br /></td></tr>
<tr class="separator:aa8b901cdadf829860346c8ada00cc82a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9dd4ec9015f189b7fb5a01aadea8cce6"><td class="memItemLeft" align="right" valign="top">MeshPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a9dd4ec9015f189b7fb5a01aadea8cce6">convertTrianglesToMesh</a> (const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &gt; &amp;triangles)</td></tr>
<tr class="memdesc:a9dd4ec9015f189b7fb5a01aadea8cce6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Converts the triangles buffer device to a <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a>.  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a9dd4ec9015f189b7fb5a01aadea8cce6">更多...</a><br /></td></tr>
<tr class="separator:a9dd4ec9015f189b7fb5a01aadea8cce6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae657d29adc55294597303e3e6032dbc9"><td class="memItemLeft" align="right" valign="top">MeshPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ae657d29adc55294597303e3e6032dbc9">runMarchingCubes</a> ()</td></tr>
<tr class="memdesc:ae657d29adc55294597303e3e6032dbc9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Runs marching cubes on the data that is contained in the TSDF Volume in GPU.  <a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ae657d29adc55294597303e3e6032dbc9">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:ac17bba2b264eef52deef73b1d7010001"><td class="memItemLeft" align="right" valign="top">TsdfVolume::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ac17bba2b264eef52deef73b1d7010001">tsdf_volume_gpu_</a></td></tr>
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<tr class="memitem:a01e1762f94d58ea63b5ec8d8dcbd9a4d"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a01e1762f94d58ea63b5ec8d8dcbd9a4d">tsdf_volume_cpu_</a></td></tr>
<tr class="separator:a01e1762f94d58ea63b5ec8d8dcbd9a4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0bc39a1d29b48ed24cf7215b93df754"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">voxels_x_</a></td></tr>
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<tr class="memitem:a6e42ec023f1a5903ea251d2ef7f6a08d"><td class="memItemLeft" align="right" valign="top"><a id="a6e42ec023f1a5903ea251d2ef7f6a08d"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>voxels_y_</b></td></tr>
<tr class="separator:a6e42ec023f1a5903ea251d2ef7f6a08d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c52c9fc894385e8550888b20bc75788"><td class="memItemLeft" align="right" valign="top"><a id="a4c52c9fc894385e8550888b20bc75788"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>voxels_z_</b></td></tr>
<tr class="separator:a4c52c9fc894385e8550888b20bc75788"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8a3bea84568b0b68231df375e407c3ac"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a8a3bea84568b0b68231df375e407c3ac">volume_size_</a></td></tr>
<tr class="separator:a8a3bea84568b0b68231df375e407c3ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65f4ea09b18f1e916edfa9b5960b1975"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a65f4ea09b18f1e916edfa9b5960b1975">mesh_counter_</a></td></tr>
<tr class="separator:a65f4ea09b18f1e916edfa9b5960b1975"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::gpu::kinfuLS::StandaloneMarchingCubes&lt; PointT &gt;</h3>

<p>The Standalone Marching Cubes Class provides encapsulated functionality for the Marching Cubes implementation originally by Anatoly Baksheev. </p>
<dl class="section author"><dt>作者</dt><dd>Raphael Favier </dd>
<dd>
Francisco Heredia </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a4eaf1a0ebd2128f8d6774f99f35ad0ba"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4eaf1a0ebd2128f8d6774f99f35ad0ba">&#9670;&nbsp;</a></span>StandaloneMarchingCubes()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">StandaloneMarchingCubes</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>voxels_x</em> = <code>512</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>voxels_y</em> = <code>512</code>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>voxels_z</em> = <code>512</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>volume_size</em> = <code>3.0f</code>&#160;</td>
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        <tr>
          <td></td>
          <td>)</td>
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<p>Constructor <br  />
 </p>
<p>Creating GPU TSDF Volume instance</p>
<p>Creating CPU TSDF Volume instance</p>
<div class="fragment"><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">voxels_x_</a> = new_voxels_x;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  voxels_y_ = new_voxels_y;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  voxels_z_ = new_voxels_z;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a8a3bea84568b0b68231df375e407c3ac">volume_size_</a> = new_volume_size;  </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f volume_size = Eigen::Vector3f::Constant (<a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a8a3bea84568b0b68231df375e407c3ac">volume_size_</a>);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">// std::cout &lt;&lt; &quot;VOLUME SIZE IS &quot; &lt;&lt; volume_size_ &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">const</span> Eigen::Vector3i volume_resolution (<a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">voxels_x_</a>, voxels_y_, voxels_z_);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ac17bba2b264eef52deef73b1d7010001">tsdf_volume_gpu_</a> = TsdfVolume::Ptr ( <span class="keyword">new</span> TsdfVolume (volume_resolution) );</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ac17bba2b264eef52deef73b1d7010001">tsdf_volume_gpu_</a>-&gt;setSize (volume_size);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">int</span> tsdf_total_size = <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">voxels_x_</a> * voxels_y_ * voxels_z_;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a01e1762f94d58ea63b5ec8d8dcbd9a4d">tsdf_volume_cpu_</a>= std::vector&lt;int&gt; (tsdf_total_size,0);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a65f4ea09b18f1e916edfa9b5960b1975">mesh_counter_</a> = 0;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_a01e1762f94d58ea63b5ec8d8dcbd9a4d"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a01e1762f94d58ea63b5ec8d8dcbd9a4d">pcl::gpu::kinfuLS::StandaloneMarchingCubes::tsdf_volume_cpu_</a></div><div class="ttdeci">std::vector&lt; int &gt; tsdf_volume_cpu_</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_a65f4ea09b18f1e916edfa9b5960b1975"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a65f4ea09b18f1e916edfa9b5960b1975">pcl::gpu::kinfuLS::StandaloneMarchingCubes::mesh_counter_</a></div><div class="ttdeci">int mesh_counter_</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_a8a3bea84568b0b68231df375e407c3ac"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a8a3bea84568b0b68231df375e407c3ac">pcl::gpu::kinfuLS::StandaloneMarchingCubes::volume_size_</a></div><div class="ttdeci">float volume_size_</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_ac17bba2b264eef52deef73b1d7010001"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ac17bba2b264eef52deef73b1d7010001">pcl::gpu::kinfuLS::StandaloneMarchingCubes::tsdf_volume_gpu_</a></div><div class="ttdeci">TsdfVolume::Ptr tsdf_volume_gpu_</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_ad0bc39a1d29b48ed24cf7215b93df754"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">pcl::gpu::kinfuLS::StandaloneMarchingCubes::voxels_x_</a></div><div class="ttdeci">int voxels_x_</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.h:156</div></div>
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<h2 class="groupheader">成员函数说明</h2>
<a id="a9dd4ec9015f189b7fb5a01aadea8cce6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9dd4ec9015f189b7fb5a01aadea8cce6">&#9670;&nbsp;</a></span>convertTrianglesToMesh()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::MeshPtr <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::convertTrianglesToMesh </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>triangles</em></td><td>)</td>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>Converts the triangles buffer device to a <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a>. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">triangles</td><td>the triangles buffer containing the points of the mesh </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to the <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a> egnerated by marchign cubes <br  />
 </dd></dl>
<div class="fragment"><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;{ </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordflow">if</span> (triangles.<a class="code" href="classpcl_1_1gpu_1_1_device_memory.html#ade5394dee721d1fe0e51bc0a9ae59e5b">empty</a> () )</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordflow">return</span> MeshPtr ();</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a> cloud;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>  = (int)triangles.<a class="code" href="classpcl_1_1gpu_1_1_device_array.html#acbd2988863a217bc7159391b9ad960e0">size</a> ();</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  triangles.<a class="code" href="classpcl_1_1gpu_1_1_device_array.html#a86641905b12549130d92aaf90a85ac87">download</a> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  boost::shared_ptr&lt;pcl::PolygonMesh&gt; mesh_ptr ( <span class="keyword">new</span> <a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> () ); </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  pcl::toPCLPointCloud2 (cloud, mesh_ptr-&gt;cloud);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  mesh_ptr-&gt;polygons.resize (triangles.<a class="code" href="classpcl_1_1gpu_1_1_device_array.html#acbd2988863a217bc7159391b9ad960e0">size</a> () / 3);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; mesh_ptr-&gt;polygons.size (); ++i)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <a class="code" href="structpcl_1_1_vertices.html">pcl::Vertices</a> v;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    v.vertices.push_back (i*3+0);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    v.vertices.push_back (i*3+2);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    v.vertices.push_back (i*3+1);              </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    mesh_ptr-&gt;polygons[i] = v;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  }    </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">return</span> (mesh_ptr);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZ &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html_a86641905b12549130d92aaf90a85ac87"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html#a86641905b12549130d92aaf90a85ac87">pcl::gpu::DeviceArray::download</a></div><div class="ttdeci">void download(T *host_ptr) const</div><div class="ttdoc">Downloads data from internal buffer to CPU memory</div><div class="ttdef"><b>Definition:</b> device_array.hpp:59</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html_acbd2988863a217bc7159391b9ad960e0"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html#acbd2988863a217bc7159391b9ad960e0">pcl::gpu::DeviceArray::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Returns size in elements.</div><div class="ttdef"><b>Definition:</b> device_array.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_memory_html_ade5394dee721d1fe0e51bc0a9ae59e5b"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_memory.html#ade5394dee721d1fe0e51bc0a9ae59e5b">pcl::gpu::DeviceMemory::empty</a></div><div class="ttdeci">bool empty() const</div><div class="ttdoc">Returns true if unallocated otherwise false.</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
<div class="ttc" id="astructpcl_1_1_vertices_html"><div class="ttname"><a href="structpcl_1_1_vertices.html">pcl::Vertices</a></div><div class="ttdoc">Describes a set of vertices in a polygon mesh, by basically storing an array of indices.</div><div class="ttdef"><b>Definition:</b> Vertices.h:15</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa8b901cdadf829860346c8ada00cc82a">&#9670;&nbsp;</a></span>convertTsdfVectors()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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          <td class="memname">void <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::convertTsdfVectors </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>output</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>Read the data in the point cloud. Performs a conversion to a suitable format for the TSDF Volume. Loads the converted data to the output vector. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>point cloud to be converted </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the vector of converted values, ready to be loaded to the GPU. </td></tr>
  </table>
  </dd>
</dl>
<p>For every point in the cloud</p>
<p>Calculate the index to write to</p>
<div class="fragment"><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;{</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> DIVISOR = 32767;     <span class="comment">// SHRT_MAX;</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="preprocessor">#pragma omp parallel for</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; (int) cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordtype">int</span> x = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keywordtype">int</span> y = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keywordtype">int</span> z = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordflow">if</span>(x &gt; 0  &amp;&amp; x &lt; voxels_x_ &amp;&amp; y &gt; 0 &amp;&amp; y &lt; voxels_y_ &amp;&amp; z &gt; 0 &amp;&amp; z &lt; voxels_z_)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keywordtype">int</span> dst_index = x + <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">voxels_x_</a> * y + voxels_y_ * <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">voxels_x_</a> * z;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        short2&amp; elem = *<span class="keyword">reinterpret_cast&lt;</span>short2*<span class="keyword">&gt;</span> (&amp;output[dst_index]);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        elem.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">short</span><span class="keyword">&gt;</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].intensity * DIVISOR);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        elem.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">short</span><span class="keyword">&gt;</span> (1);   </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      } </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa6e25c6a7ba9501b3e67af131c9a2ff2">&#9670;&nbsp;</a></span>getMeshesFromTSDFVector()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getMeshesFromTSDFVector </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; PointCloudPtr &gt; &amp;&#160;</td>
          <td class="paramname"><em>tsdf_clouds</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>tsdf_offsets</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Runs marching cubes on every pointcloud in the vector. Returns a vector containing the PolygonMeshes. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">tsdf_clouds</td><td>Vector of TSDF Clouds </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">tsdf_offsets</td><td>Vector of the offsets for every pointcloud in TsdfClouds. This offset (in indices) indicates the position of the cloud with respect to the absolute origin of the world model </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;{</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  std::vector&lt; MeshPtr &gt; meshes_vector;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordtype">int</span> max_iterations = std::min( tsdf_clouds.size (), tsdf_offsets.size () ); <span class="comment">//Safety check</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  PCL_INFO (<span class="stringliteral">&quot;There are %d cubes to be processed \n&quot;</span>, max_iterations);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordtype">float</span> cell_size = <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a8a3bea84568b0b68231df375e407c3ac">volume_size_</a> / <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">voxels_x_</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordtype">int</span> mesh_counter = 0;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; max_iterations; ++i)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    PCL_INFO (<span class="stringliteral">&quot;Processing cube number %d\n&quot;</span>, i);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="comment">//Making cloud local</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    Eigen::Affine3f cloud_transform; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">float</span> originX = (tsdf_offsets[i]).x();</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordtype">float</span> originY = (tsdf_offsets[i]).y();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordtype">float</span> originZ = (tsdf_offsets[i]).z();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    cloud_transform.linear ().setIdentity ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    cloud_transform.translation ()[0] = -originX;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    cloud_transform.translation ()[1] = -originY;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    cloud_transform.translation ()[2] = -originZ;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">transformPointCloud</a> (*tsdf_clouds[i], *tsdf_clouds[i], cloud_transform);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="comment">//Get mesh</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    MeshPtr tmp = <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a976a6a5dad28759183a8b345275c931f">getMeshFromTSDFCloud</a> (*tsdf_clouds[i]);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordflow">if</span>(tmp != 0)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;       meshes_vector.push_back (tmp);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;       mesh_counter++;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      PCL_INFO (<span class="stringliteral">&quot;This cloud returned no faces, we skip it!\n&quot;</span>);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="comment">//Making cloud global</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    cloud_transform.translation ()[0] = originX * cell_size;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    cloud_transform.translation ()[1] = originY * cell_size;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    cloud_transform.translation ()[2] = originZ * cell_size;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr cloud_tmp_ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a>);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    fromPCLPointCloud2 ( (meshes_vector.back () )-&gt;cloud, *cloud_tmp_ptr);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">transformPointCloud</a> (*cloud_tmp_ptr, *cloud_tmp_ptr, cloud_transform);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    toPCLPointCloud2 (*cloud_tmp_ptr, (meshes_vector.back () )-&gt;cloud);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    std::stringstream name;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    name &lt;&lt; <span class="stringliteral">&quot;mesh_&quot;</span> &lt;&lt; mesh_counter &lt;&lt; <span class="stringliteral">&quot;.ply&quot;</span>;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    PCL_INFO (<span class="stringliteral">&quot;Saving mesh...%d \n&quot;</span>, mesh_counter);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    pcl::io::savePLYFile (name.str (), *(meshes_vector.back ()));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_a976a6a5dad28759183a8b345275c931f"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a976a6a5dad28759183a8b345275c931f">pcl::gpu::kinfuLS::StandaloneMarchingCubes::getMeshFromTSDFCloud</a></div><div class="ttdeci">MeshPtr getMeshFromTSDFCloud(const PointCloud &amp;cloud)</div><div class="ttdoc">Run marching cubes in a TSDF cloud and returns a PolygonMesh. Input X,Y,Z coordinates must be in indi...</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.hpp:69</div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a976a6a5dad28759183a8b345275c931f">&#9670;&nbsp;</a></span>getMeshFromTSDFCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::MeshPtr <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getMeshFromTSDFCloud </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Run marching cubes in a TSDF cloud and returns a <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a>. Input X,Y,Z coordinates must be in indices of the TSDF volume grid, output is in meters. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>TSDF cloud with indices between [0 ... VOXELS_X][0 ... VOXELS_Y][0 ... VOXELS_Z]. <a class="el" href="structpcl_1_1_intensity.html" title="A point structure representing the grayscale intensity in single-channel images. Intensity is represe...">Intensity</a> value corresponds to the TSDF value in that coordinate. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to a <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a> in meters generated by marching cubes. <br  />
 </dd></dl>
<div class="fragment"><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">//Clearing TSDF GPU and cPU</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f volume_size = Eigen::Vector3f::Constant (<a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a8a3bea84568b0b68231df375e407c3ac">volume_size_</a>);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;VOLUME SIZE IS &quot;</span> &lt;&lt; <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a8a3bea84568b0b68231df375e407c3ac">volume_size_</a> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keyword">const</span> Eigen::Vector3i volume_resolution (<a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">voxels_x_</a>, voxels_y_, voxels_z_);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">//Clear values in TSDF Volume GPU</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ac17bba2b264eef52deef73b1d7010001">tsdf_volume_gpu_</a>-&gt;reset (); <span class="comment">// This one uses the same tsdf volume but clears it before loading new values. This one is our friend.</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">//Clear values in TSDF Volume CPU</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  fill (<a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a01e1762f94d58ea63b5ec8d8dcbd9a4d">tsdf_volume_cpu_</a>.begin (), <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a01e1762f94d58ea63b5ec8d8dcbd9a4d">tsdf_volume_cpu_</a>.end (), 0);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;   </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="comment">//Loading values to GPU</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad36d562206a0828d373d1ece6ba282f7">loadTsdfCloudToGPU</a> (cloud);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">//Creating and returning mesh</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">return</span> ( <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ae657d29adc55294597303e3e6032dbc9">runMarchingCubes</a> () );</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_ad36d562206a0828d373d1ece6ba282f7"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad36d562206a0828d373d1ece6ba282f7">pcl::gpu::kinfuLS::StandaloneMarchingCubes::loadTsdfCloudToGPU</a></div><div class="ttdeci">void loadTsdfCloudToGPU(const PointCloud &amp;cloud)</div><div class="ttdoc">Loads a TSDF Cloud to the TSDF Volume in GPU</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.hpp:177</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_ae657d29adc55294597303e3e6032dbc9"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ae657d29adc55294597303e3e6032dbc9">pcl::gpu::kinfuLS::StandaloneMarchingCubes::runMarchingCubes</a></div><div class="ttdeci">MeshPtr runMarchingCubes()</div><div class="ttdoc">Runs marching cubes on the data that is contained in the TSDF Volume in GPU.</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.hpp:249</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad36d562206a0828d373d1ece6ba282f7">&#9670;&nbsp;</a></span>loadTsdfCloudToGPU()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::loadTsdfCloudToGPU </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td>
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<p>Loads a TSDF <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> to the TSDF Volume in GPU </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>TSDF cloud that will be loaded. X,Y,Z of the cloud will only be loaded if their range is between [0 ... VOXELS_X][0 ... VOXELS_Y][0 ... VOXELS_Z] </td></tr>
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<div class="fragment"><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;{</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="comment">//Converting Values</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aa8b901cdadf829860346c8ada00cc82a">convertTsdfVectors</a> (cloud, <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a01e1762f94d58ea63b5ec8d8dcbd9a4d">tsdf_volume_cpu_</a>);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="comment">//Uploading data to GPU</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordtype">int</span> cubeColumns = <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ad0bc39a1d29b48ed24cf7215b93df754">voxels_x_</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ac17bba2b264eef52deef73b1d7010001">tsdf_volume_gpu_</a>-&gt;data ().upload (<a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a01e1762f94d58ea63b5ec8d8dcbd9a4d">tsdf_volume_cpu_</a>, cubeColumns);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_aa8b901cdadf829860346c8ada00cc82a"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#aa8b901cdadf829860346c8ada00cc82a">pcl::gpu::kinfuLS::StandaloneMarchingCubes::convertTsdfVectors</a></div><div class="ttdeci">void convertTsdfVectors(const PointCloud &amp;cloud, std::vector&lt; int &gt; &amp;output)</div><div class="ttdoc">Read the data in the point cloud. Performs a conversion to a suitable format for the TSDF Volume....</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.hpp:190</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae657d29adc55294597303e3e6032dbc9">&#9670;&nbsp;</a></span>runMarchingCubes()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::MeshPtr <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::runMarchingCubes</td>
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<p>Runs marching cubes on the data that is contained in the TSDF Volume in GPU. </p>
<dl class="section return"><dt>返回</dt><dd>param[return] pointer to a <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a> in meters generated by marching cubes. </dd></dl>
<div class="fragment"><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;{</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="comment">//Preparing the pointers and variables</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keyword">const</span> TsdfVolume::Ptr tsdf_volume_const_ = <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ac17bba2b264eef52deef73b1d7010001">tsdf_volume_gpu_</a>;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt;pcl::PointXYZ&gt;</a> triangles_buffer_device_;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="comment">//Creating Marching cubes instance</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_marching_cubes.html#a553555672cdffc335855e1e789a2ef0c">MarchingCubes::Ptr</a> marching_cubes_ = <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_marching_cubes.html#a553555672cdffc335855e1e789a2ef0c">MarchingCubes::Ptr</a> ( <span class="keyword">new</span> MarchingCubes() );</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="comment">//Running marching cubes</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt;pcl::PointXYZ&gt;</a> triangles_device = marching_cubes_-&gt;run (*tsdf_volume_const_, triangles_buffer_device_); </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="comment">//Creating mesh</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  boost::shared_ptr&lt;pcl::PolygonMesh&gt; mesh_ptr_ = <a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a9dd4ec9015f189b7fb5a01aadea8cce6">convertTrianglesToMesh</a> (triangles_device);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordflow">if</span>(mesh_ptr_ != 0)</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  {</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr cloud_tmp_ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a>);</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    fromPCLPointCloud2 ( mesh_ptr_-&gt;cloud, *cloud_tmp_ptr);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="keywordflow">return</span> (mesh_ptr_);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt; pcl::PointXYZ &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_marching_cubes_html_a553555672cdffc335855e1e789a2ef0c"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_marching_cubes.html#a553555672cdffc335855e1e789a2ef0c">pcl::gpu::kinfuLS::MarchingCubes::Ptr</a></div><div class="ttdeci">boost::shared_ptr&lt; MarchingCubes &gt; Ptr</div><div class="ttdoc">Smart pointer.</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes_html_a9dd4ec9015f189b7fb5a01aadea8cce6"><div class="ttname"><a href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a9dd4ec9015f189b7fb5a01aadea8cce6">pcl::gpu::kinfuLS::StandaloneMarchingCubes::convertTrianglesToMesh</a></div><div class="ttdeci">MeshPtr convertTrianglesToMesh(const pcl::gpu::DeviceArray&lt; pcl::PointXYZ &gt; &amp;triangles)</div><div class="ttdoc">Converts the triangles buffer device to a PolygonMesh.</div><div class="ttdef"><b>Definition:</b> standalone_marching_cubes.hpp:218</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aafac7040231ae371e82d15c6db0de4e8">&#9670;&nbsp;</a></span>tsdfVolumeCPU()</h2>

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<p>Returns the associated Tsdf Volume buffer in CPU </p>
<dl class="section return"><dt>返回</dt><dd>the Tsdf Volume buffer in CPU returned returned by reference </dd></dl>
<div class="fragment"><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;{</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#a01e1762f94d58ea63b5ec8d8dcbd9a4d">tsdf_volume_cpu_</a>);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aec2ad8c96592c77bbcb57e8f276ebf16">&#9670;&nbsp;</a></span>tsdfVolumeGPU()</h2>

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<p>Returns the associated Tsdf Volume buffer in GPU </p>
<dl class="section return"><dt>返回</dt><dd>pointer to the Tsdf Volume buffer in GPU </dd></dl>
<div class="fragment"><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;{</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html#ac17bba2b264eef52deef73b1d7010001">tsdf_volume_gpu_</a>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;}</div>
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<h2 class="groupheader">类成员变量说明</h2>
<a id="a65f4ea09b18f1e916edfa9b5960b1975"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a65f4ea09b18f1e916edfa9b5960b1975">&#9670;&nbsp;</a></span>mesh_counter_</h2>

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          <td class="memname">int <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::mesh_counter_</td>
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<p><a class="el" href="class_mesh.html">Mesh</a> counter used to name the output meshes </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a01e1762f94d58ea63b5ec8d8dcbd9a4d">&#9670;&nbsp;</a></span>tsdf_volume_cpu_</h2>

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          <td class="memname">std::vector&lt;int&gt; <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::tsdf_volume_cpu_</td>
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<p>The TSDF volume in CPU </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac17bba2b264eef52deef73b1d7010001">&#9670;&nbsp;</a></span>tsdf_volume_gpu_</h2>

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<p>The TSDF volume in GPU </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8a3bea84568b0b68231df375e407c3ac">&#9670;&nbsp;</a></span>volume_size_</h2>

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          <td class="memname">float <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::volume_size_</td>
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<p>Tsdf volume size in meters. Should match the ones in internal.h </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad0bc39a1d29b48ed24cf7215b93df754">&#9670;&nbsp;</a></span>voxels_x_</h2>

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          <td class="memname">int <a class="el" href="classpcl_1_1gpu_1_1kinfu_l_s_1_1_standalone_marching_cubes.html">pcl::gpu::kinfuLS::StandaloneMarchingCubes</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::voxels_x_</td>
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<p>Number of voxels in the grid for each axis </p>

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<hr/>该类的文档由以下文件生成:<ul>
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<li>gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/<a class="el" href="standalone__marching__cubes_8hpp_source.html">standalone_marching_cubes.hpp</a></li>
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